Embedded visual behaviors for navigation

The implementation of a set of visually-based behavior for navigation is presented. The approach, which has been inspired by insect's behaviors, is aimed at building a \library" of embedded visually-guided behaviors coping with the most common situations encountered during navigation in an indoor environment. Following this approach, the main goal is no longer how to characterize the environment, but how to embed in each behavior the perceptual processes necessary to understand the aspects of the environment required to generate a purposeful motor output. The approach relies on the purposive deenition of the task to be solved by each of the behaviors and it is based on the possibility of computing visual information during the action. All the implemented behaviors share the same input process (partial information of the image ow eld) and the same control variables (heading direction and velocity) to demonstrate both the generality of the approach as well as its eecient use of the computational resources. The controlled mobile base is supposed to move on a at surface but virtually no calibration is required of the intrinsic and extrinsic parameters of the two cameras and no attempt is made at building a 2D or 3D map of the environment: the only output of the perceptual processes is a motor command. The rst behavior, the centering-reeex allows a robot to be easily controlled to navigate along corridors or following walls of a given scene structure. The second behavior extends the system capabilities to the detection of obstacles lying on the pavement in front of the mobile robot. Finally docking behaviors to control the robot to a given position in the environment, with controlled speed and orientation, are presented. Besides the long-term goal of building a completely autonomous system, these behaviors , can have very short term applications in the area of semi-autonomous systems by taking care of the continuous, tedious control required during routine navigation.